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Digital Control of A Three Phase Induction Motor PDF
Digital Control of A Three Phase Induction Motor PDF
Induction Motor
By
Michael Filippich
School of Information Technology and Electrical Engineering
University of Queensland, Queensland 4072
This thesis is submitted in fulfillment of
the requirements of the degree of
Electrical Engineering
at
The University of Queensland
October 2002
Abstract
Over the past two decades technological advances in power electronics and an increasing
demand for high performance industrial machinery has contributed to rapid developments in
digital motor control. This field of study has numerous applications in the areas of
manufacturing, mining and transportation. Such is the diversity of digital motor control that it
is sometimes difficult to determine which techniques are best suited to a particular application.
The purpose of this thesis was to research, design, simulate and implement the most feasible
induction motor control algorithm for use in an Electric Vehicle Application.
For those readers who are unfamiliar with the practical aspects of induction motor control a
thorough review of electric machinery, power electronics and Pulse Width Modulation
strategies was presented. A number of mathematical techniques that are particularly relevant
to this thesis were also revised. The theory behind Volts per Hertz control, Field Oriented
Control and Direct Torque Control was presented with a particular emphasis on each
algorithms practical implementation on a DSP system. A thorough evaluation of these control
strategies was also performed using criteria that included their computational complexity,
steady state and dynamic performance, resilience to parameter variation and whether or not
they could be operated on existing hardware.
As a result of this comprehensive analysis, the Field Oriented Controller was selected as the
most feasible design option. The performance of this control algorithm was thoroughly tested
using the dynamic system modeling package Simulink. Through these simulations possible
parameters for the controllers practical implementation were determined.
The control
algorithm was then implemented on a Texas Instruments DSP using TIs Digital Motor
Control Library. A procedure for testing the controller on an induction motor workbench was
also outlined. Unfortunately at the time of writing this thesis document the workbench was
still under construction meaning that results could not be obtained safely. Future work in this
very rewarding field of research was also detailed.
1.0 Introduction
Major improvements in modern industrial processes over the past 50 years can be largely
attributed to advances in variable speed motor drives. Prior to the 1950s most factories used
DC motors because three phase induction motors could only be operated at one frequency [1].
Now thanks to advances in power electronic devices and the advent of DSP technology fast,
reliable and cost effective control of induction motors is now common place.
In 1997 it was estimated that 67% of electrical energy in the UK was converted to mechanical
energy for utilization [2]. At the same time the motor drive market in Europe was in excess of
one billion pounds. The increase in the use of induction motors was largely attributed to
major oil and mining companies converting existing diesel and gas powered machinery to run
off electricity [2].
Over the past five years however, the area of AC motor control has
continued to expand because induction motors are excellent candidates for use in Electric or
Hybrid Electric Vehicles.
In this application high performance control schemes are essential. Over the past two decades
a great deal of work has been done into techniques such as Field Oriented Control, Direct
Torque Control and Space Vector Pulse Width Modulation. Another emerging area of
research involves the application of sensorless control.
methods because it doesnt require mechanical speed or position sensors. Removing these
sensors provides a number of advantages such as lower production costs, reduced size and
elimination of excess cabling. Sensorless drives are also more suitable for harsh inaccessible
environments as they require less maintenance.
investigated the aforementioned techniques and used them to develop a Field Oriented Control
Scheme for use in an Electric Vehicle.
2.
3.
4.
5.
6.
7.
The future direction of this work was detailed to enable the ideas presented
in this thesis to be further developed.
wound rotor are similar to the stator windings and are usually connected in a uniformly
distributed Wye [3]. The squirrel cage motor has a very different arrangement to this. A cage
rotor consists of bare aluminium bars that are short circuited together by being welded to two
aluminium end rings. The motor used in this thesis was a three phase squirrel cage motor.
Despite their benefits, induction machines have one major drawback, which is that that their
speed is determined by the frequency of the supply. The reason for this can be better
understood when the operating principle of the motor is studied. Unlike DC motors it is
difficult to obtain decoupled control of the torque and flux producing components of the stator
current. The issue is further complicated because there is no direct access to rotor quantities
such as rotor flux and currents [3]. In an induction machine the alternating currents from the
three phase source flow through the stator windings producing a rotating stator flux. The
speed of rotation of this field is dependent on the number of poles in the motor and the
frequency of supply. The field induces a voltage in the rotor bars, which in turn creates a large
circulating current.
magnetic field it is subject to Lorentzs force. The sum of the Lorentz forces on the rotor bars
produces a torque that drives the rotor in the direction of the rotating field.
5
When the field is first generated the rotor is at rest so it rapidly accelerates to keep up with the
rotating flux. As its speed increases the rotor bars are not cut as much by the rotating field so
the voltage decreases. If the rotor speed equals the flux speed it will no longer be cut by the
field and will start to slow down. This is why induction machines are referred to as being
asynchronous because the rotor speed never equals the synchronous speed [3]. The difference
between these two quantities is known as the slip speed and is a very important quantity for
controller designs.
upper MOSFET is switched on i.e. a,b,c is 1 the corresponding lower MOSFET is switched
off i.e. a,b,c = 0. Using complementary signals to drive the upper and lower MOSFETS
prevents vertical conduction providing that the control signals dont overlap. From the states
of a,b,c the phase voltages connected to the motor winding can be calculated using the
following matrix representation:
Va
2 1 1 a
V = 1 V 1 2 1 b
b 3 dc
Vc
1 1 2 c
(Equation 3.1)
Knowing the phase voltage for a given switching state is important for the technique known as
Space Vector Pulse Width Modulation which will be discussed in detail in section 3.2.
switching strategies a new technique known as Space Vector Pulse Width Modulation
(SVPWM) is becoming widely used in industry.
SVPWM is a highly efficient method of generating the six pulsed signals for the inverter stage
of the motor drive. Conventional switching techniques treat each phase as a separately
generated sinusoid that is displaced by 120 degrees. However, a change in the voltage of one
half-bridge due to switching invariably influences the other two phase voltages [6]. SVPWM
evaluates the switching scheme as a whole which results in better use of the DC bus and
generates significantly less harmonic distortion than the sine triangle method [6].
us = (1 + a + a ) where a
j2
=e 3
(Equation 3.2)
Using this unity vector, a space vector representation of phase voltages va, vb, vc is therefore
2
= (v a + vb +
3
vc )
(Equation 3.3)
The 2/3 scaling factor is necessary to ensure that the system remains power invariant [7].
va
vb
vc
vab
vbc
vca
2/3
-1/3
-1/3
-1
1/3
1/3
-2/3
-1
-1/3
2/3
-1/3
-1
-2/3
1/3
1/3
-1
-1/3
-1/3
2/3
-1
1/3
-2/3
1/3
-1
Table 3.1
For each switching combination a voltage space vector can be constructed using the phase
voltages and equation 3.3. When these space vectors are plotted on a set of real and imaginary
axes the switching diagram in Figure 3.3 is obtained. The switching space vectors divide the
axes into 6 equally sized sectors. The two null vectors 000 and 111 are located at the origin.
10
currently in. The binary representation for two adjacent switching vectors differs by one bit so
only one of the upper transistors needs to change.
2
(T1Vswitch x + T2 V switch x + 1 + T3VNull)
3
(Equation 3.4)
Where Vswitch x and V switch x + 1 represent the adjacent switching vectors for sector x. VNull is the
null switching vector and T1, T2 and T3 are the durations for each switching vector.
The sum of T1 and T2 is less than or equal to Vref so the null vector VNull is activated for time
T3 to make up the rest of the switching period such that:
Tpwm = T1 + T2 + T3
(Equation 3.5)
11
12
T 0
2
=
0
3
1
1
2
3
2
1
2
1
2
2
1
-1
1
=
2
1
0
3
2
3
The Clarke transform is used to convert a three phase system to a two phase time variant
system with fixed and axes. An additional zero sequence component is added so that the
transform is bi-directional. In motor control the and axes are normally fixed at the stator.
The Clarke transform of a three phase system is directly related to the space vector
representation of a system via the following equation:
u ju = 1 + a + a 2 where a
j2
=e 3
(Equation 4.2)
Most inverter control strategies specify the output reference voltages using the and axes.
Using equation 2.1 these values can be directly generated using SVPWM. In fact most motor
control applications label the axes of the switching space vectors as and rather than real
and imaginary.
In the analysis of three phase induction motors the Clarke Transform is combined with a
similar technique known as the Park transform. The transform matrices for the combined
Clarke-Park transform are show below in Equation 4.3 [6].
Tdq 0
cos d
2
=
sin d
3
1
2
2
cos d
cos d +
3
3
2
2
sin d
sin d +
3
3
1
1
2
2
T -1 dq 0
cos d
= cos d
3
cos d +
3
sin d
2
sin d
3
sin d +
3
13
This converts a three phase system to a two coordinate time invariant system that is fixed at a
particular reference angle. Once again a zero sequence component is introduced so that the
conversion is bi-directional. In Field Oriented Control the reference angle is set to the rotor
flux angle and the positive q axis is defined as leading the positive d axis by / 2. This allows
decoupled control over the rotor flux and torque in a similar way to DC machines. This
control strategy will be discussed in considerable detail in section 2.33.
calculated as follows:
d
qs + e ds
dt
d
vds = Rs ids + ds e qs
dt
d
vqr = Rr iqr + qr + ( e r )dr
dt
d
vdr = Rr idr + dr ( e r )qr
dt
3
Te = P ds iqs qs ids
2
qs = Ls iqs + Lm iqr
vqs = Rs iqs +
ds = Ls ids + Lm idr
qr = Lr iqr + Lm iqs
dr = Lr idr + Lm ids
Ls = Lls + Lm
Lr = Llr + Lm
14
15
Figure 6.1 The graph on the left shows the Torque Vs Slip characteristics of an induction
.motor. The graph on the right shows the Volts per Hertz relationship.
16
Tem = k a ( I f ) I a
where
( I f ) = flux
Equation 6.1
I a = armature current
This means that the flux is dependent solely on the field winding current. If the flux is fixed
then the torque is varied directly by the armature current.
machines are said to have decoupled or independent control over torque and flux.
Unfortunately the operation of induction machines is much more complicated. Induction
motors are coupled, non linear, multivariable systems whose stator and rotor fields are not
held orthogonal to one another. In order to achieved decoupled control over the torque and
flux producing components of the stator currents a technique known as Field Oriented Control
is used.
sensor or encoder.
17
The key component of the FOC strategy is the Clarke and Park transform blocks. As can be
seen in Figure 6.3 these map the three phase stator currents onto a direct and quadrature
rotating reference frame that is aligned with the rotor flux. This decouples the torque and flux
producing components of the stator currents allowing the induction motor to be controlled in
much the same was as a separately excited DC machine. The d-axis component of the stator
current is related to the rotor flux magnitude via Equation 6.2:
dr = Lm ids
The torque is related to the q axis component
of the stator current and is represented by
Equation 6.3:
Tem =
3 P Lm
iqs
2 2 Lr dr
18
Instead of directly solving the above equations three PI regulators are used to set the output
reference voltages. The first PI regulator compares the speed set point with the measured
mechanical speed of the rotor and produces the stator current quadrature axis reference, isqref.
The stator current direct axis reference isdref is usually kept constant at the value required to
produce the nominal rotor flux. To operate the motor above its nominal speed a technique
known as Field Weakening is used to reduce the rotor flux. This will be discussed in more
detail in Section 6.3.3. The reference currents are compared with the measured stator currents.
The error is used by the PI regulators to generate the output stator voltages in the direct and
quadrature axes. These are transformed back onto the and axes using the inverse park
transform to allow the output voltage to be generated directly using SVPWM.
s = e r =
rr iqs
Lr ids
Equation 6.4
once you have obtained the slip the rotor flux angle is simply equal to
= s + m
Equation 6.5
An alternative method for calculating the rotor flux position that is more suitable for discrete
time implementation is called the current model. This calculates the following two equations
using the measured values for direct and quadrature currents and rotor mechanical speed.
ids =
LR dimR
+ imR
RR dt
fs = n +
LR iqs
RR imRb
Equation 6.6
Equation 6.7
The value T
RR
(idsk imRk )
LR
R R iqsk
LR b imRk +1
RR
is often represented as Kt
LR
RR
is often represented as Kr
LRb
and
cm
k +1
= cmk + b f sk T
Equation 6.10
20
Tmax =
3z p
2e
V2
( LS + LR )
Equation 6.11
e 2
where K is a constant value derived from the other fixed equation variables
When the nominal torque curve crosses the maximum torque curve the constant
Power x Speed region has been entered and the nominal torque follows the maximum torque
as indicated by the solid black line in Figure 6.4b.
The reason the flux is reduced is to allow the maximum phase voltage to be maintained and
the desired speed to be achieved. Using the equation Tem =
3 P Lm
iqs it can be seen that
2 2 Lr dr
reducing the flux reduces the torque. If the power stays constant and the torque is reduced
then by definition the speed increases.
resistive torque in the extended speed region cannot cause the phase currents to exceed their
nominal value.
21
techniques used are Open Loop Estimators and Closed Loop Observers. In early literature the
terms observer and estimator are often used interchangeably however most recent papers [8]
,[9] define estimators as devices that use a model to predict the speed using the phase currents
and voltages as state variables. Observers also use a model to estimate values however these
estimates are improved by an error feedback compensator that measures the difference
between the estimated and actual values. The predicted value of speed is then used by the
FOC to adjust the PWM waveform in exactly the same way as an actual measured value.
22
representation of the sampled phase voltages and two of the phase currents.
Using these
values the reference model calculates q without the mechanical speed of the rotor, r , whilst
the adaptive models approximation of q is based on an estimate of r . The error between
these two outputs is put through a PI controller which drives the adaptive model to generate
the correct value of r so that it produces the same reactive power as the reference model.
The reasoning behind this approach is that it allows you to gain closed loop speed control via
the closed loop calculation of reactive power.
Figure
gure 6.5 - Reactive Power MRAS Block Diagram
23
es = v s Rs is Ls
es = v s Rs is Ls
dis
dt
dis
dt
The reactive power is equal to the cross product of stator current and back emf vectors i.e.
q = is es
because is = is + is and es = es + es the equation for reactive power can be rewritten as:
di s
di
q = i s v s i s v s Ls i s
i s s
dt
dt
L2 m
L s Lr
As you can see the term that includes the stator resistance cancels out which is why this model
isnt as sensitive to parameter variation
where = 1
The equation for the Adaptive Model is also derived from the motor model and is as follows:
e s =
L2 m
r im im + i s
Lr r
e s =
L2 m
r im im + i s
Lr r
where r =
Lr
is the rotor time constant and im and im are calculated by integratin g
Rr
di m
1
1
= r im im + i s
dt
r
r
di m
dt
= r im
i m +
i s
24
Ls
T
L2 m
Ls Lr
es =
L2 m
r r (k )im (k ) im (k ) + is (k )
Lr r
where r =
Lr
is the rotor time constant and im (k) and im (k) are calculated using
Rr
T
T2
T T2
T2
T2
(
)
(
1
)
(
)
(
)
(
)
+
+
im (k) = im (k 1) 2 r (k) + 1 +
k
i
k
T
i
k
i
k
k
r m
s
s
2
r
r 2 r
2
2 r
r 2 2 r
2 r
T2
T
T2
T T2
T2
T2
im (k) = im (k 1) 2 r (k) + 1 + 2 r (k)im (k 1)T 2 + is (k) + 2 is (k) r (k) 2
r r
2 r
r 2 r
r
2
25
26
nonlinear
AC
motor
characteristics is achieved by
the on-off operation of the
hysteresis controlled PWM. In
a similar method to FOC, flux and
with -1 being too high, 0 being acceptable and 1 being too low. Finally the stator flux angle is
discretized into six, 60 degree sectors corresponding to the regions bounded by the PWM
space vectors. Using these inputs Takahasi and Dependbrock constructed the optimal
switching vector selection table in Figure 6.7 [15]. This generates the best output voltage for a
given set of conditions.
As you can see the null switching vectors are applied when the
Although
removing the stator current PI controllers improves the transient response time, the use of
hysteresis controllers means the algorithm is unable to distinguish between small and large
variations in reference values. Also the variation of flux and torque over one sector is
considerable. Another problem with classical DTC is that it was originally designed using
analog comparators that addressed a ROM chip containing the selection table. In order to
obtain precise estimates of stator flux and torque the algorithm needs to be implemented on a
DSP. Adapting classical DTC to the confines of a DSPs sampling period can significantly
decrease its performance.
28
s = V s rs I s dt
This equation requires the previously applied voltage vector and stator current.
The torque is estimated from the cross product of the stator flux space vector and the current
space vector. As you can see both space vectors are defined using the and axes of the
Clarke transform.
Tem =
3P
3P
s I s =
s I s s Is
22
22
Once the magnitude of the stator flux and output torque is known the error between the
measured and reference value can be determined. Using this error the voltage vector Vref
required to drive the torque and flux to the reference value can be calculated from the
following two equations :
Tem =
))
((
) (
3 P t
3 P t
s V E =
sV sV + s E + s E
2 2 Ls
2 2 Ls
s = V t = V t + V t
))
This is a system of two equations with two unknowns that can be solved using the quadratic
formula. When compared to FOC there is significantly more computation for the enhanced
performance of DTC with SVPWM. It is for this reason that a many commercial DTC motor
drives implement the algorithm using a DSP interfaced to an FPGA. The FPGA does most of
the hardware interaction such as A/D conversion, generation of switching signals via SVPWM
and Quadrature Encoder speed measurements if closed loop speed control is required for the
particular application.
29
V/Hz
FOC
Advantages
Disadvantages
Classical DTC
30
After carefully considering all the control schemes it was decided that this thesis will further
develop:
1. an Open Loop V/Hz controller. This is a simple algorithm to implement and will
allow the drive hardware to be thoroughly tested.
This
31
33
34
Figure 8.3
Figure 8.4 Three Phase Waveform
35
The control algorithm was evaluated under a number of different operating conditions. Figure
8.5 shows the startup characteristics of the motor with no load. As you can see from the graph
the motor slightly overshoots the speed set point of 50 radians per second before quickly
returning to this value with minimal steady state error. The amount of overshoot is perfectly
acceptable in an Electric Vehicle application as it is similar to revving a combustion engine.
An analysis of the motors speed step response was also performed. The initial reference
speed of 30 radians per second was increased to 60 after 1.5 seconds. The controller
algorithm was promptly able to respond to the speed change. The transient and steady state
performance of the controller is very impressive.
36
Finally the controllers step response to a change in loading torque was investigated. The
motor was started with a torque of 50 N.m. This value was increased to 100 N.m after two
seconds causing a drop in motor speed. The controller took less than a second to respond to
this increase in torque and return the motor to the speed set point.
37
38
fully
integrated
motor
drive
Digital
Signal
speed
MOSFET
switching
Arithmetic Logic Unit and Accumulator. The performance is further enhanced by a hardware
multiplier capable of performing 16 x 16 multiplication in a single instruction cycle. A
product scaling shifter interfaces with the multiplier to prevent overflows.
39
The TMS320LF2406A is a low voltage (3.3 V) member of the TMS320 family. It has 32 kb
of serial programmable flash, 2 kb of single access RAM and 544 bytes of Dual Access Ram.
Although it is capable of running at up to 40 MHz or 40 MIPS, a speed of 24MHz is used on
the Gold Power Controller. This is more than sufficient to run the chosen control algorithms.
The LF2406 interacts with the peripheral hardware via its two Event Mangers. These internal
units are specifically designed for motor control applications. Each unit contains a General
Purpose Timer to set the sampling period, a Quadrature Encoder Pulse (QEP) circuit to
determine the speed and three full compare/PWM units capable of generating the 6 switching
outputs for the inverter. It also has three capture pins which can be configured to respond to
external error signals or used as an alternative to the QEP circuit. The event mangers also
have an emergency PWM channel shutdown pin that can immediately drive the switching
signals to a high impedance state. Only Event Manger A was necessary to implement the
control algorithms in this thesis.
angle
was
measured
using
an
This device
usually has between 500 to 2000 equally spaced and precisely machined slots. As it rotates in
front of the mask the slots allow light to pass through to the photodetector. The signal
electronics converts the output of the photodetector into a square wave electrical pulse. The
angle of the rotor can be inferred by counting the number of pulses.
40
In most encoders determining the mechanical angle is made easier by a marking pulse that is
used to clear the count every 360 degrees. The performance of an encoder is entirely
dependent on the quality of the disk. The number of slots is equal to the number of pulses per
revolution and hence determines the resolution.
applications are known as Quadrature Encoders. These have two channels that are 90 degrees
out of phase. The benefit of having two separate phases is that the direction can also be
determined which is important for four quadrant control. Another advantage of quadrature
encoders is that by counting the rising and falling edges on each channel the resolution can be
increased by four fold. This allows a 500 pulse per revolution encoder to count 2000 pulses
per revolution.
An alternative method of calculating the rotor flux angle is to measure the speed using a low
cost metal sprocket and a Hall Effect sensor. Every time one of the sprockets teeth passes
through the Hall Effect sensor a square electric pulse is generated. This pulse can be attached
to one of the DSPs capture pins which records the time at which the pulse occurs. The speed
in radians per second is calculated by dividing the angle in radians between the sprockets teeth
by the time between pulses.
2
1
Number of Teeth t 2 t1
The choice of whether to use a sprocket or an encoder is only dependent on the type of
hardware that is available. Both techniques provide a similar level of performance and
computational difficulty.
41
Honeywell Hall Effect current sensors are used to produce an output voltage between -1.65V
and 1.65V. The polarity depends on the direction of the current so a voltage offset of 1.65
Volts is required for the signal to be in the 0 to 3.3V range of the DSPs ADC.
42
same controller can to be used for any motor regardless of its parameters. The pu model of the
induction motor defines the stator current and flux to be equal to one when the drive has
reached its nominal speed under nominal load and magnetizing current.
Under these
conditions:
I pu =
I
Ib
V pu =
V
Vb
pu =
Providing that the motor isnt operated above the nominal speed (i.e. field weakening isnt
used) then the previous values will not exceed 1. In a fixed point DSP a pu value is stored as
a Q15 fraction which is a 16 bit signed number between -1 and 0.99999. This means that
there are 15 numeric bits and one signed bit which gives a resolution of 2-15, which is more
than sufficient. Another benefit of this representation is that when two pu numbers are
multiplied together there will be no overflow. For numbers that exceed 1 in the pu scale
another format known as 4.12f or Q12 can be used. This has one sign bit, three integer bits
and 12 fractional bits. It is therefore able to represent values between -8 and 8 with a
resolution of 2-12 . Finally the standard twos complement representation of an integer is
commonly referred to as the Q0 format in DSP literature. This represents integers between
-32768 to 32767.
43
This technique is
particularly beneficial if a control structure uses a block more than once. For example the
three PI controllers in the FOC algorithm can be instanced in a C program from one generic PI
controller written in assembler. The advantage of using C to connect the blocks is that being a
higher level language it is well suited to managing variables and controlling program flow.
44
three PWM compare registers CMPR1, CMPR2 and CMPR3. The unit is enabled by loading
0xCA00 into the COMCONA configuration register. The dead band is established by setting
the DBTCONA register to 0x01F4. When initializing the compare registers it is a good idea
to set them equal to the maximum PWM period. The values in these registers will later be
changed by the SVPWM controller block.
The final task of the main method is to enable Global Interrupts by setting the IMR register to
0x0003. A number of other registers need to be configured for the DSP to operate properly
however most of these use null or default values. For a full listing of these register please
consult the source code in Appendix A.
45
The following blocks are all contained in the F2407_010 library file.
ILEG2_DCBUS_DRV (F07ILVD.h)
46
QEP_THETA_DRV (F2407QEP.h)
The
QEP_THETA_DRV
block
Controller Blocks
The following blocks are all contained in the CLIB_010.LIB library file.
Open Loop V/Hz Blocks
RAMP_CNTL (RAMP_CNTL.h)
47
V_HZ_PROFILE (VHZPROF.h)
SVGEN_MF (SVGEN_MF.h)
48
FOC Blocks
CLARK (incorrectly spelt in DMC library)
frame
using
transformation.
This
and
the
Clarke
block
is
This is used to
49
PID_REG1 (PID_REG1.h)
The
proportional and integral gains need to be specified by the user and are dependent on the
particular application. A general rule of thumb is that the proportional gain should be at least
5 to 10 times larger than the integral gain [21]. In this thesis the PI gains were determined
using Simulink Modeling of the controller. To avoid saturating the reference voltage for the
three phase inverter a maximum output value is specified.
SVGEN_DQ (SVGEN.h)
50
Sensorless Blocks
PHASE_VOLTAGE_CALC (VOLT_CAL.h)
2T1 T2 T3
2T T T
2 1 3
2T3 T1 T2
The three phase voltages are then mapped on the stationary and using the Clarke
transform.
ACI_MRAS (ACI_MRAS.h)
Ls I b
TVb
51
The following equations are used in the pu representation of the adaptive model
(
)
es = K2 ( K3 r (k )im (k) im (k ) + is (k )) pu
whereK2 =
L2 m I b
L
and K3 = r b
Lr rVb
Rr
(
i (k) = i (k 1)( K
)
(k ) + K ) (k)i (k 1)K
where K4 =
+ is (k )K7 is (k ) r (k )K8 pu
T2
T T2
T2
T
T2
T2
, K5 = 1 + 2 , K6 = T 2 , K7 = + 2 and K8 = 2
r r
r 2 r
2
r
2 r
Theestimatedreactivepowercalculatedby theadaptivemodelis :
q = is (k )es (k ) + is (k )es (k ) pu
To use this sensorless controller an ACI_MRAS object must be instanced and the values for
K1 through to K8 must be initialized. All values are in Q15 format except K1 which is in Q10
(1 sign; 5 integer; 10 fraction bits) and K3 which is in Q8 (1 sign; 7 integer; 8 fraction bits).
The inputs for the MRAS block are the and representation of the pu phase currents and
voltages. The estimated output speed is provided in both pu and RPM. The RPM value is
calculated if a base speed is specified when the object is initialized. This allows the estimated
speed to be compared directly to the user defined speed set point. For more advanced
applications the MRASs PI gains can be tuned and internal state variables can be monitored.
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Figure 9.7 Field Oriented Controller Design Using DMC Library Blocks
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Figure 9.8 Sensorless MRAS Controller Design Using DMC Library Blocks
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11.0 Conclusion
This thesis thoroughly investigated potential controller designs for an Electric Vehicle. The
Field Oriented Control algorithm was chosen to be the most feasible option for an
undergraduate thesis as it is widely used and could be implemented with existing hardware. A
long term goal should be to design the hardware and software for a Direct Torque Controller
as this is more suitable for an Electric Vehicle. The use of Simulink to model control
strategies was helpful in understanding the algorithms used and determining controller
parameters for practical applications.
throughout this thesis. This is understandable considering the limited resources available to
undergraduate research. In hindsight more would have been achieved if this thesis had
focused on modeling all the potential controller designs in Simulink as opposed to trying to
model and construct a single design.
On the whole I found this thesis to be both personally and academically rewarding. Induction
motor control is a multidisciplinary area of research that combines aspects of
power
electronics, electromechanics, signal processing, control theory and embedded system design.
As such this field is relevant to students with a variety of backgrounds. It is hoped that in the
years to come other students can further develop the designs and ideas presented in this thesis.
communications protocols written by James Kennedy and the Brushless DC Controller GUI
developed by David Finn. A comparison between Simulink results and actual measured
results would also provide a valuable insight into the effectiveness of modeling future motor
control algorithms.
57
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13.0 References
[1]
T. Wildi, Electrical machines, drives and power systems 5th ed., Prentice Hall, New
Jersey 2002
[2]
N Moham, T.M. Undeland, W.P. Robbins, Power Electronics: Circuits, Devices and
Applications 2nd ed., John Wiley & Sons, 1995
[3]
B.K. Bose, Power Electronic and Variable Frequency Drives: Tehcnology and
Applications, IEEE Press, New York, 1996.
[4]
B.K. Bose, Microcomputer Control of Power Electronic Devices, IEEE Press, New
York 1987.
[5]
[6]
[7]
[8]
G.F. Franklin, J.D. Power, M.L. Workman, Digital Control of Dynamic Systems
Addison-Wesley Publishing Company, Massachusetts 1990.
[8]
[9]
[10]
M. Ehsani, K.M. Rahman and H.Toliyat, Propulsion System Design of Electric and
Hybrid Electric Vehicles, IEEE Trans. On Ind Elect., vol 44, no. 1, Feb 1997, pp 19
27.
[11]
[12]
J. Holtz, Pulsewidth Modulation A Survey, IEEE Trans. Ind. Elec., vol 39, no. 5,
Oct. 1992, pp 410-420.
[13]
F. De Buck, P Gistelinck, and D. De Backer, A Simple but Reliable Loss Model for
Inverter Supplied Induction Motors, IEEE Trans. On Ind. Appl., Jan/Feb 1984, pp
190-202.
[14]
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[15]
[16]
[17]
[18]
Nise, Control Systems Engineering, John Wiley & Sons, New York, 2000.
[19]
[20]
[21]
[22]
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